// Copyright 2021 DeepMind Technologies Limited // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. // You may obtain a copy of the License at // // http://www.apache.org/licenses/LICENSE-2.0 // // Unless required by applicable law or agreed to in writing, software // distributed under the License is distributed on an "AS IS" BASIS, // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. #ifndef MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_ #define MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_ #include #include #include #ifdef __cplusplus extern "C" { #endif // strings MJAPI extern const char* mjDISABLESTRING[mjNDISABLE]; MJAPI extern const char* mjENABLESTRING[mjNENABLE]; MJAPI extern const char* mjTIMERSTRING[mjNTIMER]; //-------------------------- Jacobians ------------------------------------------------------------- // compute 3/6-by-nv Jacobian of global point attached to given body MJAPI void mj_jac(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, const mjtNum point[3], int body); // compute body frame Jacobian MJAPI void mj_jacBody(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body); // compute body center-of-mass Jacobian MJAPI void mj_jacBodyCom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int body); // compute subtree center-of-mass Jacobian MJAPI void mj_jacSubtreeCom(const mjModel* m, mjData* d, mjtNum* jacp, int body); // compute geom Jacobian MJAPI void mj_jacGeom(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int geom); // compute site Jacobian MJAPI void mj_jacSite(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, int site); // compute translation Jacobian of point, and rotation Jacobian of axis MJAPI void mj_jacPointAxis(const mjModel* m, mjData* d, mjtNum* jacPoint, mjtNum* jacAxis, const mjtNum point[3], const mjtNum axis[3], int body); // compute 3/6-by-nv sparse Jacobian of global point attached to given body void mj_jacSparse(const mjModel* m, const mjData* d, mjtNum* jacp, mjtNum* jacr, const mjtNum* point, int body, int NV, int* chain); // sparse Jacobian difference for simple body contacts void mj_jacSparseSimple(const mjModel* m, const mjData* d, mjtNum* jacdifp, mjtNum* jacdifr, const mjtNum* point, int body, int flg_second, int NV, int start); // dense or sparse Jacobian difference for two body points: pos2 - pos1, global MJAPI int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain, int b1, int b2, const mjtNum pos1[3], const mjtNum pos2[3], mjtNum* jac1p, mjtNum* jac2p, mjtNum* jacdifp, mjtNum* jac1r, mjtNum* jac2r, mjtNum* jacdifr); //-------------------------- name functions -------------------------------------------------------- // get string hash, see http://www.cse.yorku.ca/~oz/hash.html uint64_t mj_hashdjb2(const char* s, uint64_t n); // get id of object with specified name; -1: not found; type is mjtObj MJAPI int mj_name2id(const mjModel* m, int type, const char* name); // get name of object with specified id; 0: invalid type or id; type is mjtObj MJAPI const char* mj_id2name(const mjModel* m, int type, int id); //-------------------------- inertia functions ----------------------------------------------------- // convert sparse inertia matrix M into full matrix MJAPI void mj_fullM(const mjModel* m, mjtNum* dst, const mjtNum* M); // multiply vector by inertia matrix MJAPI void mj_mulM(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec); // multiply vector by (inertia matrix)^(1/2) MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec); // add inertia matrix to destination matrix // destination can be sparse uncompressed, or dense when all int* are NULL MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst, int* rownnz, int* rowadr, int* colind); // construct sparse matrix representations matching qM MJAPI void mj_makeMSparse(const mjModel* m, mjData* d, int *rownnz, int *rowadr, int *colind); // set dst = qM, handle different sparsity representations MJAPI void mj_setMSparse(const mjModel* m, mjData* d, mjtNum* dst, const int *rownnz, const int *rowadr, const int *colind); //-------------------------- perturbations --------------------------------------------------------- // apply Cartesian force and torque MJAPI void mj_applyFT(const mjModel* m, mjData* d, const mjtNum force[3], const mjtNum torque[3], const mjtNum point[3], int body, mjtNum* qfrc_target); // accumulate xfrc_applied in qfrc void mj_xfrcAccumulate(const mjModel* m, mjData* d, mjtNum* qfrc); //-------------------------- coordinate transformation --------------------------------------------- // compute object 6D velocity in object-centered frame, world/local orientation MJAPI void mj_objectVelocity(const mjModel* m, const mjData* d, int objtype, int objid, mjtNum res[6], int flg_local); // compute object 6D acceleration in object-centered frame, world/local orientation MJAPI void mj_objectAcceleration(const mjModel* m, const mjData* d, int objtype, int objid, mjtNum res[6], int flg_local); //-------------------------- miscellaneous --------------------------------------------------------- // extract 6D force:torque for one contact, in contact frame MJAPI void mj_contactForce(const mjModel* m, const mjData* d, int id, mjtNum result[6]); // compute velocity by finite-differencing two positions MJAPI void mj_differentiatePos(const mjModel* m, mjtNum* qvel, mjtNum dt, const mjtNum* qpos1, const mjtNum* qpos2); // integrate position with given velocity MJAPI void mj_integratePos(const mjModel* m, mjtNum* qpos, const mjtNum* qvel, mjtNum dt); // normalize all quaterions in qpos-type vector MJAPI void mj_normalizeQuat(const mjModel* m, mjtNum* qpos); // map from body local to global Cartesian coordinates MJAPI void mj_local2Global(mjData* d, mjtNum xpos[3], mjtNum xmat[9], const mjtNum pos[3], const mjtNum quat[4], int body, mjtByte sameframe); // sum all body masses MJAPI mjtNum mj_getTotalmass(const mjModel* m); // scale body masses and inertias to achieve specified total mass MJAPI void mj_setTotalmass(mjModel* m, mjtNum newmass); // high-level warning function: count warnings in mjData, print only the first time MJAPI void mj_warning(mjData* d, int warning, int info); // version number MJAPI int mj_version(void); // current version of MuJoCo as a null-terminated string MJAPI const char* mj_versionString(); #ifdef __cplusplus } #endif #endif // MUJOCO_SRC_ENGINE_ENGINE_SUPPORT_H_